Kau Sal Robot Report

7/27/2019 Kau Sal Robot Report

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SUMMER INTERNSHIP REPORT

ON

DESIGN & DEVELOPMENT OF MICROCONTROLLER BASED IR TRACKING /

HEAT SEEKING ROBOT WITH FIRE ALARM

Submitted by

KAUSHAL JHA3RD YEAR (ECE)

HINDU COLLEGE OF ENGINEERING

Under the Guidance of

Hemant KumarScientist C

ISO 9001: 2008

Centre for Fire, Explosive and Environment Safety (CFEES),

Defence Research and Development Organization (DRDO),

Timarpur, Delhi - 110054

July, 2010


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Certificate

This is to certify that the Project entitled Design and Development of Micro-controller

Based IR Tracking /Heat seeking Robot with fire alarm is being submitted by

KAUSHAL JHA in partial fulfillment of summer training in CFEES, Timarpur, Delhi. It is

the original work carried out by him under my guidance and supervision.

Sh. Hemant Shukla

Date:

Place:


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Acknowledgement

I take this opportunity to acknowledge all those who have assisted me in this

thesis. First of all I express my earnest gratitude towards Sh. B.J MISHRA sir, CFEES,

Timarpur, Delhi for his constant support and guidance during my thesis work. His

motivations and suggestions were invaluable in successful completion of this thesis.

I am also grateful to the team of FASG who has been given valuable suggestions

for completion of this work. It is a pleasure to thank my training head SH. HEMANT

SHUKLA & group head Sh. A.K CHAWLA for their encouragement and interest in this

work.

I would like to thank Sh. Banwari Lal sir, Sh. Ashok sirand Sh. Paras sir for

their direct and indirect help for completion of this project work.

Finally I am grateful to GOD almighty and my parents for giving me the strength

and wisdom to carry out this work successful.

( Kaushal Jha )Date:

Place:


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LIST OF CONTENTS

1. About DRDO 52. About CFEES 63. Project Assigned 84. Introduction 95. Methodology of Design 106. Description of Proposed Circuit 137. Micro Controller 158. Crystal Oscillator 229. TIP 122 & 127 2410.Software Section

a. Flow Chart 25b. Program 27

11.Keil C51 Cross Compiler 2912.Photograph of Designed Robot 3813.Conclusion and Results. 3914.Implementations and Future Work 4015.References. 4116.List of Abbreviation Used. 42


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ABOUT: DEFENCE RESEARCH AND DEVELOPMENT ORGANISATION

The Defence Research and Development Organisation (DRDO)(Hindi: , Rak Anusandhneva Viks Sangahan) is an agency of the Republic of India,responsible for the development of technology for use by the military,headquartered in New Delhi, India. It was formed in 1958 by themerger of Technical Development Establishment and theDirectorate of Technical Development and Production with the Defence Science Organisation.

DRDO has a network of 52 laboratories which are deeply engaged in developing defence technologies

covering various fields, like aeronautics, armaments, electronic and computer sciences, human

resource development, life sciences, materials, missiles, combat vehicles development and navalresearch and development. The organization includes more than 5,000 scientists and about 25,000

other scientific, technical and supporting personnel.
http://en.wikipedia.org/wiki/Government_agencyhttp://en.wikipedia.org/wiki/Republic_of_Indiahttp://en.wikipedia.org/wiki/Technologyhttp://en.wikipedia.org/wiki/Military_of_Indiahttp://en.wikipedia.org/wiki/New_Delhihttp://en.wikipedia.org/wiki/Indiahttp://en.wikipedia.org/wiki/Mergerhttp://en.wikipedia.org/wiki/Mergerhttp://en.wikipedia.org/wiki/Indiahttp://en.wikipedia.org/wiki/New_Delhihttp://en.wikipedia.org/wiki/Military_of_Indiahttp://en.wikipedia.org/wiki/Technologyhttp://en.wikipedia.org/wiki/Republic_of_Indiahttp://en.wikipedia.org/wiki/Government_agency


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ABOUT : CENTRE FOR FIRE, EXPLOSIVE AND ENVIRONMENT SAFETY

The Centre for Fire, Explosive and Environment Safety (CFEES)

is an Indian defense laboratory of the Defence Research and Development

Organization (DRDO). Located in Timarpur, Delhi, its main function is the

development of technologies and products in the area of explosive, fire

and environmental safety. CFEES is organized under the Armaments

Directorate of DRDO. The present director of CFEES is J.C. Kapoor.

The Centre for Explosive and Environment Safety (CEES) was established in 1992 by merging

three DRDO establishments; DRDO Computer Centre, Delhi, The Directorate of Explosives Safety,

DRDO HQ, and the Fire Advisers Office, DRDO HQ. In 2000 another DRDO lab, Defence Institute of

Fire Research (DIFR) was merged with CEES. In order to emphasize the importance of fire science,the Government renamed CEES as CFEES in 2003.

AREAS OF WORK

CFEES works in the area of Explosive safety, Fire protection and environmental safety. In addition to

developing technologies to protect against these threats, it also trains personnel in these areas, and

enforces safety standards in the use of hazardous materials- toxic, explosive and flammable. CFEES

also designs and develops sensors to detect these threats.

Explosive Safety - CFEES helps in the Siting of explosive processing and storage dumps and the

design, testing and evaluation of safe explosive storage houses. Additionally, it trains armed forces

personnel and DRDO scientists in the safe use of explosives and ordinance, and enforces compliance

of safety rules. Simulation and risk modeling is also carried out, in order to aid in Disaster Management.

Environment Safety - CFEES develops treatment and disposal techniques for hazardous Heavy Metal

Wastes, as well as Photodegradable Polyethylene for use as packaging material at high altitudes,

which prevents the pollution in mountainous areas where the Indian Army operates, such as Kargil and

Siachen.
http://en.wikipedia.org/wiki/Indiahttp://en.wikipedia.org/wiki/Defence_Research_and_Development_Organisationhttp://en.wikipedia.org/wiki/Defence_Research_and_Development_Organisationhttp://en.wikipedia.org/wiki/Delhihttp://en.wikipedia.org/wiki/Government_of_Indiahttp://en.wikipedia.org/wiki/Risk_modelinghttp://en.wikipedia.org/wiki/Indian_Armyhttp://en.wikipedia.org/wiki/Kargil_districthttp://en.wikipedia.org/wiki/Siachenhttp://en.wikipedia.org/wiki/Siachenhttp://en.wikipedia.org/wiki/Kargil_districthttp://en.wikipedia.org/wiki/Indian_Armyhttp://en.wikipedia.org/wiki/Risk_modelinghttp://en.wikipedia.org/wiki/Government_of_Indiahttp://en.wikipedia.org/wiki/Delhihttp://en.wikipedia.org/wiki/Defence_Research_and_Development_Organisationhttp://en.wikipedia.org/wiki/Defence_Research_and_Development_Organisationhttp://en.wikipedia.org/wiki/India


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CFEES also plays an active role in formulating the phase-out strategy for halon and other ozone layer

threatening gases. The National Halon Management Programme, funded under bilateral programme, is

implemented by CFEES, supported by Ozone Cell, India. Halons are one of the six categories of

chemicals that are covered under the phase-out programme of the Montreal Protocol. The Montreal

Protocol, to which India is a signatory, has called upon the parties to phase out the CFCs, halons and

other man-made ozone-depleting chemicals.[4] In this regard, the lab is researching into alternative

chemicals for fire suppression and other uses.

Fire Safety - CFEES is involved in the development of automatic fire and explosion detection and

suppression systems for armoured vehicles, and water mist based fire protection Systems for various

applications. It also develops lightweight fire protection clothing. A smoke test tunnel for creating fire

signatures under various conditions has been installed.
http://en.wikipedia.org/wiki/Ozone_layerhttp://en.wikipedia.org/wiki/Montreal_Protocolhttp://en.wikipedia.org/wiki/Centre_for_Fire,_Explosive_and_Environment_Safety#cite_note-The_Hindu-3http://en.wikipedia.org/wiki/Centre_for_Fire,_Explosive_and_Environment_Safety#cite_note-The_Hindu-3http://en.wikipedia.org/wiki/Centre_for_Fire,_Explosive_and_Environment_Safety#cite_note-The_Hindu-3http://en.wikipedia.org/wiki/Fire_protectionhttp://en.wikipedia.org/w/index.php?title=Smoke_test_tunnel&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Smoke_test_tunnel&action=edit&redlink=1http://en.wikipedia.org/wiki/Fire_protectionhttp://en.wikipedia.org/wiki/Centre_for_Fire,_Explosive_and_Environment_Safety#cite_note-The_Hindu-3http://en.wikipedia.org/wiki/Montreal_Protocolhttp://en.wikipedia.org/wiki/Ozone_layer


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PROJECT ASSIGNED

Design and Development of Micro-controller Based

IR TRACKING /HEATSEEKING ROBOT WITH FIRE ALARM

27/07/2010


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INTRODUCTION

Automatic system like robots carry out specific tasks. These systems are usually employed in

environments where conditions keep changing. The robots described here sense the near infrared

radiation (.8m-1m) and moves toward that direction. This robot is designed keeping in mind mainlyfor two applications viz. Heat seeking missile and automatic fire extinguisher.

There are four sections, mainly sensor, comparator, Micro-controller, and DC Motor Driver.

The sensing section detects the infrared radiation. The controller section process the information from

the sensor and provide input to the driver section, which has DC motor for driving the robot, the output

of the sensors is fed to the comparator, which serves as the input to the micro controller. Depending on

the input sequence obtain the micro controller performs the sequential operations and gives output

decisions which is a sequence of bits to drive a DC motor.

As a heat seeking missile: The heat-seeking missile is a special kind of missile that not only reaches

the target emitting heat radiations (Aircraft, Ship or Boat) but also tracks it. As the target moves, it

follows the target and finally hits it. The missile is based on the concept of detecting and following the

heat-radiating source. The robot designed for two-dimensional motions, performs the task of a heat

seeking missile as it tracks heat radiating object.

As a Fire Extinguisher:

The robot can be used as a highly sophisticated fire extinguisher. The fire extinguisher, when it

detects fire, will move toward fire, deviating away from any obstacle, and extinguish the fire.


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Methodology of Design

Block Diagram

IR

Sensor

Left

IR

Sensor

Centre

IR

Sensor

Right

C

O

MP

C

O

M

P

C

O

MP

Micro

Controller

AT 89S52

R

E

LA

Y

C

K

T

D

C

MO

T

O

R

Wire less

Communication

Module

(Optional)

T

R

AN

S

I

S

T

O

R

D

R

I

V

E

R

Audio & visual indication

D

C

M

O

T

O

R


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In this method sensing of IR signal is been carried out by three IR sensor. It gives a negative

going signal when an IR radiation coming if front of the sensor. A comparator make this pulse to

positive going and feed to micro controller 89S52. The micro controller as per its software gives output

to the respective transistorized driver circuit. The driver circuit energies the relay and finally DC Motor

gets power from relay. When sensor start tracking the IR radiation a audio indication from alarm circuit

will also come. The Wireless message can also be send through RF by putting TX and Rx module. The

sensing circuit of ROBOT is as below.


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The complete Circuit diagram of this method is as follows


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DESCRIPTION OF PROPOSED CIRCUIT

There are three IR sensors located outside the body of the robot namely left side, right side

and at the center. These IR sensors after getting IR radiations from there respective sides gives a

negative going pulse to the comparator. For three sensors there are three respective comparators. The

output from left is connected to the PIN NO 21(P 2.0) of Microcontroller, output from centre and right

are connected to pin no 24,22 (P2.1,P 2.3)respectively. The output of microcontroller is fed to the

Darlington pair transistor TIP127. For motor one output is taken from pin 1 pin 2(P1.0,P1.1).For motor

two it is from PIN3 &4(P1.2&P1.3). A relay based D.C motor driver circuit is introduced as as follows:


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From the above truth table it is clear that both the motor can run either in clock wise or in counter clock

wise direction as per requirement. we are already given a +12V supply at the normally open point of

relay and Ground at normally close point of relay. When input of TIP127 i.e. port 1.0 gets high transistor

conduct and a ground goes to the coil of relay makes it energized. It results a +12v supply at common

point of relay. There are two similar relay for one DC motor to rotate in both direction. A reverse diode is

used across the coil of relay to avoid back emf of relay. So a two dimensional motion can be achieved

from robot by using two DC motor.

P1.1 RLY O/P1 RLY O/P2DC

MOTOR 1P 1.2 P 1.3

RLYO/P3

RLYO/P4

DCMOTOR 2

0 0 0V 0V STOP 0 0 0V 0V STOP

0 1 0V 12V RUN CW 0 1 0V 12V RUN CW1 0 12V 0V RUN CCW 1 0 12V 0V RUN CCW

1 1 12V 12V STOP 1 1 12V 12V STOP

A table for direction of Robot is as follows.

Motor Left Motor Right Direction of RobotClock wise Clock wise Forward motion

Clock wise Stop Turn right

Stop Clock wise Turn left

Counter clock wise Counter clock wise Reverse motion


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AT89S52 Micro-Controller

Features

Compatible with MCS-51 Products 8K Bytes of In-System Programmable (ISP) Flash Memory

o Endurance: 1000 Write/Erase Cycles 4.0V to 5.5V Operating Range Fully Static Operation: 0 Hz to 33 MHz Three-level Program Memory Lock 256 x 8-bit Internal RAM 32 Programmable I/O Lines Three 16-bit Timer/Counters Eight Interrupt Sources Full Duplex UART Serial Channel Low-power Idle and Power-down Modes Interrupt Recovery from Power-down Mode Watchdog Timer Dual Data Pointer Power-off Flag Fast Programming Time Flexible ISP Programming (Byte and Page Mode)


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Description

The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8K bytes of

in-system programmable Flash memory. The device is manufactured using Atmels high-density

nonvolatile memory technology and is compatible with the industry-standard 80C51 instruction set

and pin out. The on-chip Flash allows the program memory to be reprogrammed in-system or by a

conventional nonvolatile memory programmer. By combining a versatile 8-bit CPU with in-system

programmable Flash on a monolithic chip, the Atmel AT89S52 is a powerful microcontroller which

provides a highly-flexible and cost-effective solution to many embedded control applications.

The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytes of RAM,32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a six-vector two-level

interrupt architecture, a full duplex serial port, on-chip oscillator, and clock circuitry. In addition, the

AT89S52 is designed with static logic for operation down to zero frequency and supports two software

selectable power saving modes. The Idle Mode stops the CPU while allowing the RAM, timer/counters,

serial port, and interrupt system to continue functioning. The Power-down mode saves the RAM con-

tents but freezes the oscillator, disabling all other chip functions until the next interrupt or hardware

reset.


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Pin Configuration

Pin 1 to pin 8 Port1.0 to Port1.7

Pin 9 Reset

Pin 10 to pin 17 Port 3.0 to Port 3.7

Pin 18 &19 XTAL2 AND XTAL1

Pin 20 GROUND

Pin 21 to pin 28 Port 2.0 to Port 2.7

PIN 29, 30 & 31 PSEN, ALE/PROG & EA /VPP

Pin 32 to pin 39 Port O.7 to Port 0.0

PIN 40 VCC


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Pin Description

VCC Supplyvoltage.

GND Ground.

Port0 Port 0 is an 8-bit open drain bidirectional I/O port.As an output

port,eachpincansink eightTTL inputs.When1sarewritten to

port0pins, thepinscanbeusedashigh- impedanceinputs.

Port 0 can also be configured to be the multiplexed low-orderaddress/data bus during accesses to external program and data

memory.Inthismode,P0hasinternalpull-ups.

Port 0 also receives the code bytes during Flash programming

and outputs the code bytes during program verification.

Externalpull-upsarerequiredduringprogram verification.

Port1 Port 1 is an 8-bit bidirectional I/O port with internal pull-ups. The

Port 1 output buffers cansink/source fourTTL inputs.When1sare

writtentoPort1pins,theyarepulledhigh bytheinternalpull-upsand

canbeusedasinputs.Asinputs,Port1pinsthatareexternallybeing

pulledlowwillsourcecurrent(IIL)becauseoftheinternalpull-ups.

In addition, P1.0 and P1.1 can be configured to be the

timer/counter 2 external count input (P1.0/T2) and the

timer/counter 2 trigger input (P1.1/T2EX), respectively, as

showninthefollowingtable.

Port 1 also receives the low-order address bytes during Flash

programmingand verification.


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canbeusedasinputs.Asinputs,Port2pinsthatareexternallybeing

pulledlowwillsourcecurrent(IIL)becauseoftheinternalpull-ups.

Port 2 emits the high-order address byte during fetches from

externalprogrammemory and during accesses to external data

memory that use 16-bit addresses (MOVX @ DPTR). In this

application,Port2usesstrong internalpull-upswhenemitting1s.

During accessestoexternaldatamemorythatuse8-bitaddresses

(MOVX @ RI), Port 2 emits the contents of the P2 SpecialFunctionRegister.

Port 2 also receives the high-order address bits and some control

signalsduringFlash programmingandverification.


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can be used as inputs.As inputs, Port 3 pins that are exter- nally

beingpulledlowwillsourcecurrent(IIL)becauseofthepull-ups.

Port 3 receives some control signals for Flash programming and

verification.

Port 3 also serves the functions of various special features of the

AT89S52,asshownin thefollowingtable.

Port Pin Alternate FunctionsP3.0 RXD serial in ut ort

P3.1 TXD (serial output port)

P3.2 INT0 (external interrupt 0)

P3.3 INT1 (external interrupt 1)

P3.4 T0 (timer 0 external input)

P3.5 T1 (timer 1 external input)

P3.6 WR external data memor write strobe

P3.7 RD (external data memory read strobe)

RST Reset input.Ahighon thispin for twomachinecycleswhile the

oscillator is running resets thedevice.Thispindriveshigh for98

oscillatorperiodsaftertheWatchdogtimes out.TheDISRTObitin

SFRAUXR(address8EH)canbeused todisable this feature. In

the default state of bit DISRTO, the RESET HIGH out feature is

enabled.


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ALE/PROG Address Latch Enable (ALE) is an output pulse for latching the

lowbyteoftheaddress duringaccessestoexternalmemory.This

pin is also the program pulse input (PROG) during Flash

programming.

In normal operation,ALE is emitted at a constant rate of 1/6 the

oscillator frequency and may be used fo r external timing or

clocking purposes. Note, however, that one ALE pulse is

skippedduringeachaccesstoexternaldatamemory.

Ifdesired,ALEoperationcanbedisabledbysettingbit0ofSFR

location8EH.Withthe bitset,ALE isactiveonlyduringaMOVX

or MOVC instruction. Otherwise, the pin is weakly pulled high.

Setting theALE-disable bithas noeffect if themicrocontroller is

in externalexecutionmode.

PSEN Program Store Enable (PSEN) is the read strobe to external

program memory. When the AT89S52 is executing code from

externalprogrammemory,PSEN isactivated twiceeachmachine

cycle, except that two PSEN activations are skipped during each

accesstoexternaldatamemory.

EA/VPP ExternalAccessEnable.EAmustbestrapped toGND inorder to

enable the device to fetch code from external program memory

locations starting at 0000H up to FFFFH. Note,however, that if

lockbit1isprogrammed,EAwillbeinternallylatchedonreset.

EAshouldbestrappedtoVCC forinternalprogramexecutions.

Thispinalso receives the12-voltprogrammingenablevoltage

(VPP)duringFlash programming.

XTAL1 Inputtotheinvertingoscillatoramplifierandinputtotheinternal

clockoperatingcircuit.

XTAL2 Outputfromtheinvertingoscillatoramplifier.


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Crystal Oscillator

CrystalSpecifications

The reference frequencies for Chrontel's products are derived from an on-chip Pierce oscillator

with an external crystal. The oscillator has been designed to function reliably with crystals that

conform to the following specifications

Table 1 Crystal Specifications

CrystalSpecifications Min Typical Max Comment

NominalFrequency(MHz)

14.31818

OscillationMode FundamentalHolderType HC-49,HC-50 NotImportantPintoPinCapacitance(CoinpF) 7 10 DependsonHolderTypeOperatingTemperature(C) 10 30 70

ApplicationDependent

FrequencyTolerance 30PPM ApplicationDependent

LoadCapacitance(CeqinpF)

12.5 17 20AffectsFrequencyTolerance

DriveLevel(PinW) 0.5 1 2* Calc.Valueby(4)MotionResistance(Rsin) 25 30 50 AffectsDriveLevel

SeriesandParallelResonance

Thereisnosuchthingasaseriescut

crystalasopposedtoa

parallelcut

crystal. Thesamecrystal

canbe made to oscillate in series resonance mode or parallel resonance mode. The frequency of

oscillation of a crystal is usually specified by the manufacturer as either the series resonance

frequency or the parallel resonancefrequency. Acrystalcanoscillate inseriesresonance,meaning

thatLsisresonatingwithCs,andthe resonancefrequencyisthensimply

f series = 1/2 Ls. Cs


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Some oscillator circuits are designed for series resonance and the oscillation frequency shall

equal the specified series resonance value. These series mode oscillators, however, are more

sensitive to temperature andcomponentvariations. In fact,mostcrystalsoscillators in today's ICsare

of theparallelresonance type. The oscillation frequency ofaparallel mode oscillator is alwayshigher

than fseries. The actual oscillation frequency of a parallel mode oscillator is dependent on the

equivalentcapacitanceseenbythecrystal.

where ceq = C0+C1(C2/(C1+C2))

At parallel resonance, the crystal behaves inductively and resonates with capacitance shunting the

crystal terminals. Depending on the application, especially in microprocessors where Pierce

oscillators are used predominantly,acrystalmanufacturermayspecifyparallel resonance frequency

insteadofseries resonance frequency. Since fparallel isa functionof the loadcapacitanceCeq, it

shouldalsobespecifiedalongwith fparallel. ForPCCPUclockandVGAclockapplications,the

frequencyaccuracyrequiredisusuallynotverystringent andcaneasilybesatisfiedwitha14.318MHz

crystalthathasbeenspecified foroperationineitherseriesor parallelresonancemodes


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TRANSISTOR TIP 122 & TIP 127

Plastic Medium-Power

Complementary Silicon Transistors

DARLINGTON 5 AMPERE COMPLEMENTARY SILICON POWER TRANSISTORS6080100 VOLTS 65 WATTS

. . . designed for generalpurpose amplifier and lowspeed switching

applications.

High DC Current Gain hFE = 2500 (Typ) @ IC

= 4.0 Adc

CollectorEmitter Sustaining Voltage @ 100 mAdcVCEO(sus) = 60 Vdc (Min) TIP120, TIP125

= 80 Vdc (Min) TIP121, TIP126= 100 Vdc (Min) TIP122, TIP127

Low CollectorEmitter Saturation Voltage VCE(sat) = 2.0 Vdc(Max)

@ IC = 3.0 Adc= 4.0 Vdc (Max) @ IC = 5.0 Adc

Monolithic Construction with BuiltIn BaseEmitter Shunt Resistors TO220AB Compact Package


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Software Section The software for Robot has been written in the C language and it is converted to

assembly language using cross complier Keil UV Vision.

FLOW CHART

EVALUATE THE TEST EXPRESSION

FOR STRAIGHT MOMENT

IS TRUE

start

Check the status of a each sensor

EVALUATE THE TEST EXPRESSIONFOR LEFT MOMENT

IS TRUE

EVALUATE THE TEST EXPRESSION

FOR RIGHT MOMENT

IS TRUE

CALL

SUBROUTINE

STRAIGHT

CALL

SUBROUTINE

STRAIGHT

CALL

SUBROUTINE

STRAIGHT

YES

YES

YES

NO

NO

NO


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SUBROUTINE STRAIGHT

SUBROUTINE LEFT

SUBROUTINE RIGHT

SUBROUTINE LEFT

DRIVE LEFT MOTOR ONLYCW , ALARM ON

RETURN

SUBROUTINE STRAIGHT

DRIVE BOTH MOTOR CW ,

ALARM ON

RETURN

SUBROUTINE LEFT

DRIVE RIGHT MOTOR ONLY

CW , ALARM ON

RETURN


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PROGRAM

#include

sbit right = P2^1; //sensor connection

sbit centre=P2^3;

sbit left=P2^0;

sbit alarm=P3^0; //alarm is connected

sbit mr1=P1^2; //right motor

sbit mr2=P1^3;

sbit ml1=P1^0; //left motor

sbit ml2=P1^1;

//definition of the main function

void delay()

{

unsigned int i=30000;

while(i--);}

//definition of main function

void main()

{

right=1;left=1;centre=1; //configure as input pin

ml1=1;ml2=1;mr1=1;mr2=1; //stop all the motors

alarm=0; //OFF the alarm

while(1)

{

if(left)

{

alarm=1;


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mr2=0; //forward the right motor

delay();

}

else

mr2=1; //stop the right motor

if(right)

{

alarm=1;

ml2=0; //forward left motor

delay();

}

else

ml2=1; //stop the left motor

if(centre)

{

alarm=1;

ml2=0; //forward

mr2=0; //forward

delay(); delay();

}

else

{

ml2=1;

mr2=1; //stop both the motors

}

if(!(left||right||centre))

{

alarm=0;

}}

}


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Keil C51 CROSS COMPILER :

The 8051 Family is one of the fastest growing Microcontroller Architectures. More than 500 device variants available.

Keil provides several development tools for these 8051 variants. C51 Compiler A51 Macro Assembler BL51 Linker/Locater

Software Development Cycle in Keil

1. Create a project, select the target chip from the device database, and configure the toolsettings.

2. Create source files in C.3. Build your application with the project manager.4. Correct errors in source files.5. Test the linked application

Create a Project File

To create a new project file select from the Vision menu ProjectNew Project. Thisopens a standard Windows dialog that asks you for the new project file name.

We suggest that you use a separate folder for each project


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Select a Device

When you create a new project Vision asks you to select a CPU for your project. The Select Device

dialog box shows the Vision device database. Just select the microcontroller you use


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Create New Source Files

You may create a new source file with the menu option File New. This opens an empty editor window

where you can enter your source code. Vision enables the C color syntax highlighting when you save

your file with the dialog FileSave As under a filename with the extension *.C.


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Add Source File to the Project

Once you have created your source file you can add this file to your project. For example, you can select the file group in the Project Workspace Files page and click

with the right mouse key to open a local menu. The option Add Files opens the standard files

dialog. Select the file MAIN.C you have just created


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Set Tool Options for Target

Vision lets you set options for your target hardware. The dialog Options for Target opens via the

toolbar icon or via the Project - Options for Target menu item. In the Target tab you specify all

relevant parameters of your target hardware and the on-chip components of the device you have

selected


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Build Project and Create a HEX File

You may translate all source files and line the application with a click on the Build Target

toolbar icon. When you build an application with syntax errors, Vision will display errors and

warning messages in the Output Window Build page.

A double click on a message line opens the source file on the correct location in a Vision

editor window


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Build Project and Create a HEX File

Once you have successfully generated your application you can start debugging using the

Vision Debugger.

After you have tested your application, it might be required to create an Intel HEX file and to

download the application software into the physical device using a Flash programming utility.

Vision creates HEX files with each build process when Create HEX file underOptions for

Target Output is enabled


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Output Files

The Cx51 Compiler generates a number of output files during compilation.

By default, each output file shares the same filename as the source file.

each has a different file extension.

Files with this extension are assembly source files generated fromyour C source code. These files can be assembled with the A51

Assembler.

.SRC

Image of the machine code generated, to be burnt onto the targetdevice.

.Hex

Files with this extension contain the source text as expanded by

the preprocessor. All macros are expanded and all comments aredeleted inthis listing.

.I

Files with this extension are object modules that containrelocatable object code. Object modules may be linked to an

absolute object module by the Lx51 Linker/Locator.

.OBJ

Files with this extension are listing files that contain the formattedsource text along with any errors detected by the compiler. Listingfiles may optionally contain the symbolsused and the assemblycode generated.

.LST


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Language Extensions

The Cx51 Compiler provides several extensions to ANSI Standard C to support the followingelements of the 8051 architecture.

o Memory Areaso Memory Typeso Memory Modelso Data Typeso Bit Variables and Bit-Addressable Datao Special Function Registerso Pointerso Function Attributes


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Photograph of Designed Robot


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Conclusion and Result

The Robot has been tested and evaluated successfully. The designed robot is capable to move in left ,

right and center direction when it gets a fire signal or IR radiation from their respective side. This robothas proved the tracking of fire and IR radiation. Robot is also capable of energizingfirealarm on getting

IR radiation. It can also interface with RF Transmitter and Receiver module and are able to directly

interface with computer for software up gradation and data logging purpose. Some better features can

be added to tackle more complex situation.


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Future Plan

This robot can be modified for its better performance and more technological advancement.

A block diagram on the future plan in shown below.

Pyro

detector

Photo

Diode

ADC

Micro

controller

A

D

C

Amp-

lifier

Opto

coupler

And

DC

Motor

Driver

Three Different Audio

Visual Alarm

DC MOTOR

LEFT

DC MOTOR

RIGHT

RF and GSM Interfacing Circuit


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References and DataSheet

1. The 8051 microcontroller and embedded system - By MA Mazidi, JC Mazidi and RDMckinlay.

2. Data Sheet of ATMEL AT89S523. Data Sheet of IC UM 35614. Data Sheet of TIP 122 & 127


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LIST OF ABBRIVIATION USED

CW Clock wise

CCW Counter clock wise

IC Integrated circuit

IR infrared

Comp Comparator

Kau Sal Robot Report

Documents

Transcript of Kau Sal Robot Report